Q1/ what is a robot?

Robots are "devices capable of moving in a flexible manner analogous to the moving parts of
living organisms, with or without intellectual functions, allowing operations in response to
human commands".

Q2/ Define a robot according to robotics industries associations (RIA) and according to
Japanese industrial robot association (JIRA)?
RIA JIRA
A robot is a reprogrammable, multifunctional According to the Japanese Industrial Robot
Association (JIRA), robots can be classified
manipulator designed to move material, parts, as follows:
tools, or specialized devices through variable Class 1: manual handling device – a device
programmed motions for the performance of with several DOF’s actuated by the operator.
Class 2: fixed sequence robot – like fixed
a variety of tasks
automation.
Class 3: variable sequence robot – like
programmable automation.
Class 4: playback robot – the human
performs tasks manually to teach the robot
what trajectories to follow.
Class 5: numerical control robot – the
operator provides the robot with the sequence
of tasks to follow rather than teach it.
Class 6: intelligent robot – a robot with the
means to understand its environment, and the
ability to successfully complete a task despite
changes in the surrounding conditions where
it is performed

Q3/ what are the goals for a successful robot implementation?

1. Going to far away (planets) or far down (water)
2. Giving us information, that human can’t get
3. Perform tasks faster than human
4. Automatically go without human interference help
Q4/ what are the benefits of a robot?
1. Industrial robots improve quality of life by freeing worker from dangerous
2. Industrial robots improve management control and productivity
3. Industrial robots reduce the cost of manufactured goods
4. Industrial robots work night in assembly line without loss performance
Q5/ what do you mean by robot revolution?
1941 : science writer uses word “robotics” to describe technology of robot
1956 : first robot company in the world established
1961 : use first industrial robot in general motor company
1980 : use industrial robot in nano automotive industries
Q6/ what are the characteristics of a robot?
1. A Specialized machine designed for doing work.
2. Automatic operations which are executed without external help
3. Reprogrammable multifunctional and flexible: not restricted for one job but can be
programmable to perform many jobs
4. Responsive: must be able to react based on their sensory input
Q7/ what are the application topics of a robotic ? Give Examples
1. Exploration ( - space missions – exploring volcanoes underwater exploration )
2. Medical science ( surgical assistant )
3. Assembly factory’s part ( handling – painting – security – home help )
Q8/ what is a robot architecture?
robot architecture is discipline devoted to design highly special robot from a collection of
software building blocks
‫ هندسة الروبوت هي تخصص مكرس لتصميم روبوت خاص للغاية من مجموعة من الكتل البرمجية اإلنشائية‬.4
Q9/ what are the robot types?
1. Mobile robot (Mobile robots permit work in a variety of locations. Three main types of land
locomotion are used: wheeled, tracked, and legged)
2. Educational robot (robotic kits are used extensively in education)
3. Domestic ( two types those designed to perform household tasks and modern toys which are
programmed to do things like taking, walking and dancing)
4. Industrial (materials handling – welding – improving productivity – inspection – laboratory
applications)
Q11/ classify robot according to robot arm geometry and mobility ?

Q12/ compare between manipulator robots and mobile robots?

•Fixed Robots
– Fixed robots can only work within a limited space or area. Until recently all industrial robots
were fixed to a pedestal base which was bolted to the floor but now some fixed robots are
mounted to provide limited mobility.
• Mobile Robots
– Mobile robots permit work in a variety of locations. Three main types of land locomotion are
used: wheeled, tracked, and legged. Normally, legged robots have four to six legs: two-legged
robots are presently very difficult to make. Other types of locomotion include propeller drive
systems for submersibles.
Q13/ what are the steps of building a robot?
1. Brain Storming
2. Exploring Practical Methods
3. Designing
4. Building And Fabrication
5. Testing And Debugging

Q14/ what are the basic components of a robot?

1. Manipulator : main body of robot “links, joints and other structural elements of the robot
2. End effector : the part that is connected to the last joint hand of manipulator
3. Actuators : Muscles of the manipulators. They convert the electrical energy into meaningful mechanical
work
4. Sensors : To collect information about the internal state of the robot or to communicate with the outside
environment
5. Controller : similar to cerebellum. It controls and coordinates the motion of the actuators
6. Processor : The brain of the robot it calculates the motions and velocity of the robot’s joints……etc.
7. Software : operating system and the collection of routines
Q15/ what are the basic parts of a robot? (Describe each part of a robot briefly)
1. Locomotion system (A mobile robot must have a system to make it move This system gives our machine
the ability of moving forward , backward and take turns. It may also provide for climbing up and down )
2. Power supply system(Suitable power source is needed to run the robots. Mobile robots are most suitably
powered by batteries . The weight and energy capacity of the batteries may become the determinative factor of
its performance)

3. Actuators( Muscles of the manipulators. They convert the electrical energy into meaningful mechanical work)
4. Sensory devices for feedback( To collect information about the internal state of the robot or to
communicate with the outside environment )
5. Sensor Data processing unit( The brain of the robot it calculates the motions and velocity of the robot’s
joints……etc. )
6. Control system4( similar to cerebellum. It controls and coordinates the motion of the actuators )
Q16/ what is the basic robot system? (show your answer with schematic block diagram )

Q11/ Classify EOAT according to the method of used to hold the part in the gripper?
End of Arm Tooling (EOAT) The end effector means the last link (or end) of the robot

End Effector classification ( finger – vacuum – magnetic – adhesive – expanding )

Q10/ what is Microsoft robot studio? What does it do?
A window-based environment that is used to create robotics application.
Microsoft Robotics Studio provide a programmatic way to create an orchestrator that manage
robotics applications (“Service”)
Q17/ why research in advanced robotics?

Q18/ classify Robots according to (Use, Mobility, Motion Control, Capability,

Arm Configuration and End Effector)
1. Use: ( industrial – nonindustrial )
2. Mobility: ( Fixed Robots can only work with a limited space – Mobile Robots permit work in a
variety of locations Three main types of land locomotion are used: wheeled, tracked, and legged )
3. Motion control: ( servo control more flexible, can stop at any number of points within it’s working
space, and correction are made auto and – Non servo control has their movement set and limited by
mechanical end stop and sometime called “pick and place”
4. Capability: ( 1st Gen include playback NC numerical control – 2nd Gen include sensor to give
feedback adaptive – 3rd Gen use AI able to recognize, learn, think , program them)
5. Arm Configuration: ( Rectangular – cylindrical – spherical – jointed arm – spine )
6. End Effector ( finger – vacuum – magnetic – adhesive – expanding )
Q10/ what are control approaches of robotics?
1. Reactive control : don’t think ,react
2. Behavior-based control : think the way you act
3. Deliberative control :think hard act later
4. Hybrid control : think and act dependently in parallel
Q10/ explain what do you know about robot degree of freedom (DOF)?
The degrees of freedom of a rigid body is defined as the number of independent movements it
has. The number of :
• Independent position variables needed to locate all parts of the mechanism,
• Different ways in which a robot arm can move,
• Joints
Degrees of Freedom As DOF 3 position 3 orientation 3D Space = 6 DOF In robotics: DOF =
number of independently driven joints computational complexity cost flexibility power
transmission is more difficult
Q19/ In figure (1), the robot system is shown as a block box, explain using a block diagram
the robot system?
Input Human directions The robot system Output many types of work
done automatically

– Inside the block box:-

controller Actuator
Input Human directions Output many types of work
done automatically
Power supply

The controller input Output

information entered by human Controller (HW,SW) electrical command signal sent
beings to actuator

Actuator and drives: Actuator and Drive Output

Input energy from Motion ( robot arm, wheels,
Hydrolic,electric,penumatic
an external source legs, end effector…… etc)

Sensors: Output
input feedback from Sensors Signals sent to controller error
actuator, and correction and responsive
environmental information action
Q20/ Determine the orientation of End effector ( Gripper ) Yaw angle (ψ) = 90 deg., pitch
angle (φ) = 30 deg., and roll angle (Θ) = 60 deg.?
 Roll rotation  about X2

Q21/ what are the power source for driving an effector (gripper)?

Electrical: the most widely used are DC motors and stepper motors
Advantages:
1. Actuators are fast and accurate. 5. Relatively inexpensive.
2. Possible to apply sophisticated control techniques to motion.
3. Very fast development times for new models.
4. New rare earth motors have high torque, reduced weight, and fast response times.
Disadvantages:
1. Inherently high speed with low torque, hence gear trains or other power transmission units
are needed.
2. Gear backlash limits precision.
3. Electrical arcing may be a consideration inflammable atmosphere.

Hydraulic: through the control of incompressible fluid flow or pressure.

Advantages:
1. Large lift capacity. 5. Moderate speeds.
2. High power to weight ratio. 6. Self-lubricating and self-cooling.
3. Oil is incompressible, hence once positioned joints can be locked to a stiff structure.
4. Very good servo control can be achieved.
Disadvantages:
1. Hydraulic systems are expensive.
2. Maintenance problems with seals causing leakage.
3. Not suitable high speed cycling.
4. Need for a return line.
5. Hard to miniaturize because high pressure and flow rates.
6. Cannot back drive links against valves.

Pneumatic: pressurized air is used to generate output mechanical motion.

Advantages:
1. Relatively inexpensive. 5. Can be used in laboratory work.
2. High speed. 6. No return line required.
3. Do not pollute work area with fluids. 7. Common energy source in industry.
4. Suits modular robot designs.
Disadvantages:
1. Compressibility of air limits control and accuracy aspects.
2. Noise pollution from exhausts.
3. Leakage of air can be of concern.
4. Additional drying/ filtering may be required.
5. Difficulties with control of speeds, take up of loads, and exhausting of lines.
Q22/ mention the classification of gripper (end of arm)?
1- Standard: have two different closing motions, angular or parallel
2- Vacuum: Suction cups can be used to grip large flat surfaces. typically made of soft
rubber or plastic and typically round, or oval shapes.
3- Magnetic: can be used with ferrous materials. They are, typically Electromagnets or
Permanent magnets grippers.
4- Adhesive: handle fabrics and other lightweight materials. These grippers are basically a
sticky surface on the end of the robot.
5- Expanding: a bladder can be inserted into a part, and then inflated.
Q23/ what is the robot programming language?
C++ - c# - fortran – java - android ……………………..etc.